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1		-xwiki:XWiki.ENantel
	1	+xwiki:XWiki.CBenson

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	1	+true

Content

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1	1	{{warningBox warningText="More information coming soon"/}}
2	2
	3	+
	4	+
3	3	(% class="wikigeneratedid" id="HTableofContents" %)
4	4	**Page Contents**
5	5
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290	290
291	291	== Motion ==
292	292
293		-|(% colspan="2" %)(((
294		-====== __Position in Degrees__ ======
295		-)))
296		-|(% style="width:30px" %) |(((
297		-Position in Degrees (**D**)
	295	+====== __Position in Degrees (**D**)__ ======
298	298
299	299	Example: #5D1456<cr>
300	300
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313	313	Ex: #5QDT<cr> might return *5QDT6783<cr>
314	314
315	315	The query target position command returns the target virtual position during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond with the last target position used.
316		-)))
317	317
318		-|(% colspan="2" %)(((
319		-====== __(Relative) Move in Degrees__ ======
320		-)))
321		-|(% style="width:30px" %) |(((
322		-Move in Degrees (**MD**)
	315	+====== __(Relative) Move in Degrees (**MD**)__ ======
323	323
	317	+
324	324	Example: #5MD123<cr>
325	325
326	326	The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
327		-)))
328	328
329		-|(% colspan="2" %)(((
330		-====== __Wheel Mode in Degrees__ ======
331		-)))
332		-|(% style="width:30px" %) |(((
333		-Wheel mode in Degrees (**WD**)
	322	+====== __Wheel Mode in Degrees (**WD**)__ ======
334	334
335	335	Ex: #5WD90<cr>
336	336
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341	341	Ex: #5QWD<cr> might return *5QWD90<cr>
342	342
343	343	The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
344		-)))
345	345
346		-|(% colspan="2" %)(((
347		-====== __Wheel Mode in RPM__ ======
348		-)))
349		-|(% style="width:30px" %) |(((
350		-Wheel moed in RPM (**WR**)
	334	+====== __Wheel Mode in RPM (**WR**)__ ======
351	351
352	352	Ex: #5WR40<cr>
353	353
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358	358	Ex: #5QWR<cr> might return *5QWR40<cr>
359	359
360	360	The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
361		-)))
362	362
363		-|(% colspan="2" %)(((
364		-====== __(Relative) Move in Degrees__ ======
365		-)))
366		-|(% style="width:30px" %) |(((
367		-(% class="wikigeneratedid" %)
368		-Move in Degrees (**MD**)
	346	+====== __(Relative) Move in Degrees (**MD**)__ ======
369	369
370	370	(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
371	371	Example: #5M1500<cr>
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372	372
373	373	(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
374	374	The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
375		-)))
376	376
377		-|(% colspan="2" %)(((
378		-====== __Query Status__ ======
379		-)))
380		-|(% style="width:30px" %) |(((
381		-Query Status (**Q**)
	354	+====== __Query Status (**Q**)__ ======
382	382
383	383	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
384	384
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408	408	| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
409	409	| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
410	410	| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
411		-)))
412	412
413		-|(% colspan="2" %)(((
414		-====== __Limp__ ======
415		-)))
416		-|(% style="width:30px" %) |(((
417		-Limp (**L**)
	385	+====== __Limp (**L**)__ ======
418	418
419	419	Example: #5L<cr>
420	420
421	421	This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
422		-)))
423	423
424		-|(% colspan="2" %)(((
425		-====== __Halt & Hold__ ======
426		-)))
427		-|(% style="width:30px" %) |(((
428		-Halt & Hold (**H**)
	391	+====== __Halt & Hold (**H**)__ ======
429	429
430	430	Example: #5H<cr>
431	431
432	432	This command causes the servo to stop immediately and hold that angular position. It overrides whatever the servo might be doing at the time the command is received (accelerating, travelling, deccelerating, etc.)
433		-)))
434	434
435	435	== Motion Setup ==
436	436